CN106515717B - Increase the regeneration method in hybrid vehicle based on the calculating of requested vehicle deceleration - Google Patents

Increase the regeneration method in hybrid vehicle based on the calculating of requested vehicle deceleration Download PDF

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Publication number
CN106515717B
CN106515717B CN201610797209.4A CN201610797209A CN106515717B CN 106515717 B CN106515717 B CN 106515717B CN 201610797209 A CN201610797209 A CN 201610797209A CN 106515717 B CN106515717 B CN 106515717B
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China
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vehicle
modified
torque
yaw rate
axle
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CN106515717A (en
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M·L·怀特
M·G·彼得鲁奇
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • B60W2710/0666—Engine torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2720/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/40—Torque distribution
    • B60W2720/403—Torque distribution between front and rear axle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W2720/406—Torque distribution between left and right wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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    • B60Y2200/92—Hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
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    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18108—Braking
    • B60Y2300/18125—Regenerative braking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A kind of method for controlling a vehicle, comprising: based on from driver request slow down input come calculate expectation slow down limit regenerative torque request.If current dynamic vehicle service condition is to increase expectation deceleration limitation regenerative torque request, based on regenerative torque overhead value when being arranged in the performance zones for allowing to increase regenerative torque request to limit modified axle regenerative torque request.It is requested based on modified axle regenerative torque to export modified torque value.If torque control value will lead to estimated yaw rate less than target yaw rate, apply modified torque value.Otherwise, modified torque value is redefined, until estimated yaw rate is not more than target yaw rate, and apply modified torque value re-defines numerical value.

Description

It is regenerated in hybrid vehicle to increase based on the calculating of requested vehicle deceleration Method
Technical field
Present invention relates generally to a kind of methods for controlling hybrid vehicle.
Background technique
Energy regenerating device can be used to convert it for the kinetic energy of the swivel wheel from vehicle in hybrid vehicle The energy of his form.It is deposited for example, the hybrid vehicle that propulsive force is supplied to axle is generally included energy using electric device Storage device, such as battery or other similar device.The energy storage device must carry out filling energy, referred to herein as regenerate.The energy The regeneration for measuring storage device can be realized by several different methods.For example, the electric device can be used as energy again by vehicle Generating apparatus, regenerate the energy storage device by process of regenerative braking, wherein to make the energy of vehicle deceleration by The electric device is converted to electric energy, and electric energy is stored in the energy storage device.Alternatively, the kinetic energy from wheel can be turned The form of energy being melted into other than electric energy.For example, the energy regenerating device may include counter-weight flywheel, in this case, come from The kinetic energy of wheel is passed to the kinetic energy in the flywheel.
Summary of the invention
Provide a kind of control method for vehicle.This method includes being inputted according to requested deceleration, calculates expectation deceleration limit Preparation, regeneration torque request, and according to the available additional power of regeneration of vehicle increase expectation slow down the request of limitation regenerative torque and Alleviate the ability of any possible yaw caused by due to increasing expectation deceleration limitation regenerative torque request.The expectation is subtracted Speed limit preparation, regeneration torque request increases to such level, i.e., will mention to the maximum extent under the conditions of any given vehicle power High regeneration level, while not upsetting vehicles dynamic performance.The expectation slow down limitation regenerative torque request value added be defined as through Modify the requirement of axle regenerative torque.Then, at least one control signal is sent to the vehicle at least by engine control module One device realizes modified axle regenerative torque request to control the device.
Provide a kind of control method for vehicle.The vehicle includes the axle for being connected to energy regenerating device.This method includes The requested deceleration input received from from driver is requested to calculate expectation deceleration limitation regenerative torque.Vehicle control Device determines whether current dynamic vehicle service condition is arranged in such performance zones, i.e., the performance zones allow to increase the phase Hope whether limitation regenerative torque request of slowing down, or current dynamic vehicle service condition are not located in performance zones, the property Energy region allows to increase expectation deceleration limitation regenerative torque request.Allowing to increase in the setting of current dynamic vehicle service condition In the case where in the performance zones of expectation deceleration limitation regenerative torque request, turned round by total available regenerate of the energy regenerating device Square capacity and expectation deceleration limit the difference between regenerative torque request to calculate regenerative torque overhead value.It can be according to this again Raw torque overhead value increases expectation deceleration limitation regenerative torque request, to limit modified axle regenerative torque request.To this The modified torque value and modified internal combustion engine (ICE) torque request of each wheel of vehicle are defined.The warp of each wheel Modifying torque value is the friction catch torque for needing to be applied to each wheel of vehicle, so as under current dynamic vehicle service condition Send the request of modified axle regenerative torque to the energy regenerating device.According to modified front axle regenerative torque request and The modified torque value of each wheel of the vehicle, to calculate the estimated yaw rate of the vehicle.By permissible regeneration target yaw rate It is compared with the estimated yaw rate, to determine that this allows whether regeneration target yaw rate is greater than the estimated yaw rate, or Determine that this allows whether regeneration target yaw rate is equal to or less than the estimated yaw rate.When this allows regeneration target yaw rate When greater than the estimated yaw rate, the limit of the modified torque value of the modified axle regenerative torque request and each wheel of the vehicle Definite value remains unchanged.When this allows regeneration target yaw rate to be not more than the estimated yaw rate, which is turned round The modified torque value of square request and each wheel of the vehicle is re-defined permissible less than this to the estimated yaw rate is limited Regenerate the numerical value of target yaw rate.Control signal is communicated with vehicle control device, to control the friction system at each wheel of the vehicle Dynamic device provides modified torque value to corresponding wheel of vehicle, to obtain the modified axle regeneration of the energy regenerating device Torque request, and obtain the modified ICE torque request.
Therefore, if the energy regenerating device has additional regenerated capacity, and the modified regenerative torque will not make The yaw rate of the vehicle is more than target yaw rate, and can increase the vehicle under normal circumstances can be dedicated for the current dynamic of the vehicle The movable torque capacity of the regeneration of state service condition, to optimize regeneration.
Features described above and advantage and other features and advantages of the present invention from below in conjunction with attached drawing to implement it is of the invention most It is become apparent in the detailed description that good mode carries out.
Detailed description of the invention
Fig. 1 is the schematic plan view of vehicle.
Fig. 2 is the flow chart for indicating to control the method for the vehicle.
Specific embodiment
It should be appreciated by those skilled in the art that be such as "upper", "lower", " upward ", " downward ", " top ", " bottom The terms such as portion " only illustrate attached drawing in descriptive manner, are not intended to limit protection scope defined in appended claims of the present invention.And And the content of present invention can be described according to function and/or logical block components and/or various processing steps herein.It answers It should be appreciated that this modular unit may include any number of hardware for being configured to execution concrete function, software and/or consolidate Part component.
A kind of control is mainly described wherein identical accompanying drawing number indicates identical component in multiple views referring to attached drawing The method of hybrid vehicle 20.The vehicle 20 may include the vehicle of any type and/or type, which includes being connected to The axle of energy accumulating device 38, the energy accumulating device can convert some other forms or biography for the kinetic energy of the vehicle 20 Pass some other device.
One exemplary embodiment of the vehicle 20 is as shown in Figure 1.It should be understood that the vehicle 20 can be configured to not It is same as shown in Fig. 1, and should be understood that the exemplary embodiment of the vehicle 20 shown in FIG. 1 is only used for auxiliary and understands this hair It is bright.Therefore, the scope of the present invention should not be limited to shown in Fig. 1 and the configuration of the vehicle 20 described herein and specific component. It is as shown in Figure 1 and described herein, the exemplary embodiment of the vehicle limit and hereinafter refer to energy regenerating device as Electric device 32.However, it should be understood that the other embodiments of the vehicle can also limit the energy regenerating device as some Other devices such as, but not limited to configure fly wheel system.
Referring to Fig.1, the vehicle 20 include internal combustion engine 22, be connected to the first axle 24, and be operable to this first Axle 24 provides propulsive force or torque.The internal combustion engine 22 may include the engine of any suitable type, such as, but not limited to, bavin Oil machine, gasoline engine, natural gas engine etc., moreover, the internal combustion engine 22 is configurable to any suitable type, such as but not It is limited to, inline construction, V-configuration, rotary construction etc..Any suitable component can be used with any conjunction in the internal combustion engine 22 Suitable mode is connected to first axle 24, such as, but not limited to, gearbox or speed changer 26, differential mechanism, drive shaft etc..It should The operation of internal combustion engine 22 is well known in the art.Therefore, the detail of the internal combustion engine 22 and operate in that repeats no more herein.This Outside, the internal combustion engine 22 be connected to and transfer torque to first axle 24 concrete mode it is unrelated to the invention, therefore herein It repeats no more.
First axle 24 can be configured to for propulsive torque being transmitted to from internal combustion engine 22 to attach in any suitable manner On at least one wheel 28 of first axle 24.First axle 24 includes the friction at each wheel 28 of the first axle 24 Brake apparatus 30.The friction stopping device 30 of first axle 24 slows down the rotation of relevant wheel 28 using frictional force, to make Vehicle 20 slows down, as known in the art.The friction stopping device 30 of first axle 24 and the first axle 24 it is specific Configuration and operation and the teachings of the present invention and uncorrelated, therefore not detailed description herein.
Vehicle 20 further comprises electric device 32, is connected in the second axle 34, and can run for the second axle 34 Ground provides propulsive force or torque.Electric device 32 can include but is not limited to motor or motor/generator.It should be noted, however, that , electric device 32 may include that can convert electric energy to torque and the torque is supplied to some of the second axle 34 Other devices.Electric device 32 can in any suitable manner, with any component appropriate (be such as but not limited to gear-box or Speed changer 26, differential mechanism, transmission shaft etc.) it is connected in the second axle 34.The concrete configuration of electric device 32 and operation and will be electric Dynamic device 32 is coupled and is delivered torque to the mode of the second axle 34 and the teachings of the present invention and uncorrelated, thus It is not described in detail in text.
Second axle 34 can be configured to propulsive torque being transmitted to attachment from electric device 32 in any suitable manner In at least one wheel 28 of the second axle 34.Second axle 34 includes being arranged at each wheel 28 of the second axle 34 Friction stopping device 30.The friction stopping device 30 of second axle 34 slows down the rotation of relevant wheel 28 using frictional force, from And vehicle 20 is made to slow down, as known in the art.The friction stopping device 30 of second axle 34 and the second axle 34 Concrete configuration and operation and the teachings of the present invention and uncorrelated, therefore not detailed description herein.
As shown in the exemplary embodiment of Fig. 1, internal combustion engine 22 and electric device 32 can be referred to as disconnection connection.Herein Used in term disconnect connection and refer to each other be not mechanical linkages, independence mechanically to each other, and not transmitting physically therebetween Torque.Therefore, internal combustion engine 22 and electric device 32 are not mechanical linkages each other, not physically transmit torque mutually each other.This Whether whether sample provide when thrust torques and the first axle 24 are run to the first axle 24 to vehicle when internal combustion engine 22 is run 20 provide friction catch independent of electric device 32 and the second axle 34.Equally, whether to the when electric device 32 is run Two axles 34 provide when thrust torques and the second axle 34 are run whether to vehicle 20 to provide friction catch independent of interior Combustion engine 22 and the first axle 24.However, the other embodiments of vehicle 20 may include the system coupled, wherein the first axle 24 Wheel 28 and the wheel 28 of the second axle 34 mechanically link together.In addition, the other embodiments of vehicle 20 can be only Including engaging the wheel 28 to promote vehicle 20 in an axle.For example, vehicle 20 may include attaching to only a single axle Electric device 32 so that only the wheel 28 of the single axle is for promoting vehicle 20, and the remaining wheel 28 of vehicle 20 is not For promoting.
In addition to that can be other than the second axle 34 provides propulsive torque, electric device 32 can also generate electric current, can use It can or make its regeneration in filling for energy storage device 38.Energy storage device 38 can include but is not limited to battery or similar dress It sets, charge can be stored, and the charge of storage can be supplied to electric device 32 to generate propulsive torque.In vehicle 20 In other embodiments, energy storage device can include but is not limited to configuration flywheel.For example, electric device 32 is configurable to make The rotation that the wheel 28 of the second axle 34 must be attached to can be such that electric device 32 rotates in turn, to generate charge, deposit Storage is in energy storage device 38.In this way, torque or resistance that electric device 32 is resisted the rotation of wheel 28 and applied make wheel 28 slow down and vehicle 20 can be made to slow down.The torque or amount of resistance for being connected to the rotation of the wheel 28 of the second axle 34 can become Change, to control the braking amount of the offer of electric device 32, while still for generating electric power to fill energy for energy storage device 38.
As shown in Figure 1, and it is as described herein, the rear end of vehicle 20 is arranged in the first axle 24, after can also being referred to as Axis, and the front end of vehicle 20 is arranged in the second axle 34, can also be referred to as front axle.However, the first axle 24 and the second axle 34 relative position can overturn, and the second axle 34 is arranged as front axle for the front end that vehicle 20 is arranged in the first axle 24 In the rear end of vehicle 20 as rear axle.
Vehicle 20 further comprises vehicle control device 36, is used to control internal combustion engine 22 and electric device 32 and the first vehicle Axis 24 and the second axle 34 include the operation of the friction stopping device 30 of the first axle 24 and the second axle 34.Vehicle control device 36 It can be simply referred as controller, referred to as control module, such as, but not limited to engine control module, control unit, such as But be not limited to control unit of engine, computer etc..Vehicle control device 36 may include to vehicle 20 (such as internal combustion engine 22 and electricity Dynamic device 32) operation be managed and control desired computer and/or processor, and including all softwares, hardware, storage Device, algorithm, connector, sensor etc..In this way, can be presented as can be in vehicle for method shown generally in as described below and Fig. 2 The one or more programs or algorithm run on controller 36.It should be understood that vehicle control device 36 may include can be to next It is analyzed from the data of various sensors or other devices, data is compared, made and the operation of vehicle 20 is controlled System it is expected necessary decision and executes any device for carrying out control expectation task to the operation of vehicle 20.
Vehicle control device 36 can be presented as one or more digital computers or host, each all have one or more Processor, read-only memory (ROM), random access memory (RAM), electrically programmable read only memory (EPROM), optical drive Device, magnetic driven device etc., high-frequency clock, modulus (A/D) circuit, digital-to-analogue (D/A) circuit and any desired input/output (I/O) Circuit, input/output (I/O) equipment, communication port and signal modulation and buffering electronic device.
Computer-readable memory may include any non-transitory/tangible medium, participate in providing data or computer Readable instruction.Memory can be non-volatile or volatibility.Non-volatile media may include such as CD or disk with And other long-time memories.The example of Volatile media may include dynamic random access memory (DRAM), may be constructed Main memory.Other examples of the embodiment of memory include floppy disk, floppy disc or hard disk, tape or other magnetic mediums, CD-ROM, DVD and/or any other optical medium and other possible memory devices, such as flash memory.
Vehicle control device 36 includes tangible non-transitory memory, stores the executable finger of recorded computer on it It enables, the regeneration decision algorithm including enhancing.The processor of controller 36 is disposed for executing the regeneration decision algorithm of enhancing.Increase Strong regeneration decision algorithm executes the method for controlling vehicle 20, including control internal combustion engine 22 and electric device 32, the first vehicle Axis 24 and/or the second axle 34, including the friction stopping device 30 on the first axle 24 and the second axle 34, to be moved to current The regeneration of energy storage device 38 under power vehicle operating condition optimizes.
Referring to Fig. 2, the method for control vehicle 20 includes vehicle control device 36, the various different sensors with vehicle 20 And/or system controller communication and/or receive various different sensors from vehicle 20 and/or system controller it is several not With the data of input source, usually indicated with frame 50.For example, vehicle control device 36 may include it is expected that deceleration is relevant to driver Data, the actual torque (hereinafter referred to as ICE torque practical) from internal combustion engine 22, expectation are slowed down the request of limitation regenerative torque, the One axle, 24 propulsive torque, 34 propulsive torque of the second axle, energy storage system fill energy interdependent region state (SOC) (referred to hereinafter as For the interdependent region of battery SOC), 34 friction catch torque of the second axle of left side (hereinafter referred to as LF friction catch torque), right side Two axles, 34 friction catch torque (hereinafter referred to as RF friction catch torque), 24 friction catch torque of the first axle of left side are (hereafter Referred to as LR friction catch torque) and 24 friction catch torque of the first axle of right side (hereinafter referred to as RR friction catch torque).
The input of current dynamic vehicle service condition can be sensed directly by one or more 20 sensors of vehicle above, and Data relevant to respectively inputting are transmitted to vehicle control device 36.Alternatively, vehicle control device 36 can be with other 20 systems of vehicle Controller is communicated to request and receive data relevant to respectively inputting.Furthermore, it is to be understood that vehicle control device 36 can be obtained with this Some other modes that Wen Zhongwei is particularly pointed out or described execute the Strategy for Regeneration Control expectation input of optimization.Vehicle control device 36 It uses to implement the different inputs of the Strategy for Regeneration Control of optimization and be known and be normally used for the operation of different vehicle 20 Various 20 control systems of different vehicle are used.Then, it specifically detection and/or determines or calculates and each of indicate and to be input to above The process of the input of vehicle control device 36 is known to the skilled in the art, therefore is not described in detail herein.Such as Used herein, following input is defined as follows.
" driver it is expected to slow down " is the requested amount of deceleration of driver or the rate of deceleration, i.e. negative acceleration, such as by stepping on Lower actuating pedal.
" ICE torque is practical " is the actual amount of the torque exported from internal combustion engine 22.
" expectation slow down limitation regenerative torque request " is the regeneration for energy storage device 38 or fill can requested torsion Square amount, and the request is calculated by reducing maximum regeneration torque limit, the current dynamic operating condition based on vehicle 20, including The requested amount of deceleration of driver, electric device 32 can produce the maximum regeneration torque limit.Then, it is expected that slowing down limitation again Raw torque request is equal to the maximum regeneration torque limit for reducing the electric device 32 of amount of the amount of deceleration depending on vehicle 20.
" 24 propulsive torque of the first axle " is that the first vehicle takes out 24 torque capacities for being supplied to wheel 28, and the wheel 28 is attached to For pushing the first axle 24 of vehicle 20.
" 34 propulsive torque of the second axle " is that the second vehicle takes out 34 torque capacities for being supplied to wheel 28, and the wheel 28 is attached to For pushing the second axle 34 of vehicle 20.
" the interdependent region of battery SOC " is one in multiple limited areas or mode, the multiple limited area or mode The energy storage device 38 for Different Dynamic vehicle operating condition can be regenerated.Specifically, the interdependent region of battery SOC can be limited It is set to first area (region 1), second area (region 2), third region (region 3) or the fourth region (region 4).First area It is usually defined as normal street driver area, wherein the dynamic operating condition of vehicle 20 is limited in such as maximum possible deceleration 20% to 30% and vehicle 20 transverse acceleration ability between.Second to the fourth region be usually defined as gradually more actively Driver area, wherein the dynamic operating condition of vehicle 20 is wanted unrestricted compared with first area.For example, second area can quilt It is limited between the transverse acceleration ability for 50% to 70% and the vehicle 20 that such as maximum possible is slowed down, and third region Ke Bao Include up to 100% maximum possible deceleration and lateral ability.The fourth region can be defined as include forward acceleration and including The region of deceleration and transverse acceleration in third region.
" LF friction catch torque " is currently to be applied to the second axle 34 (before in exemplary embodiment shown in Fig. 1 Axle) left side friction catch amount.
" RF friction catch torque " is applied to the second axle 34 (front axle in exemplary embodiment shown in Fig. 1) Right side friction catch amount.
" front axle friction torque " is applied to the cumulant of the friction catch of the right side and left side of the second axle 34.
" LR friction catch torque " is applied to the first axle 24 (back axle in exemplary embodiment shown in Fig. 1) Left side friction catch amount.
" RR friction catch torque " is applied to the first axle 24 (back axle in exemplary embodiment shown in Fig. 1) Right side friction catch amount.
" back axle friction torque " is applied to the cumulant of the friction catch of the right side and left side of the first axle 24.
Once vehicle control device 36 receives data relevant to institute's dynamic vehicle service condition input in need, such as It is above-mentioned for example, vehicle control device 36 will use process with determine whether to increase driver it is expected slow down limitation regenerative torque ask It asks, if increasable, in the case where the not yaw rate of excessive influence vehicle 20, can increase needed for how many driver The limitation regenerative torque that slows down is requested.
Process starts from vehicle control device 36 and determines whether the interdependent region of battery SOC is equal to or is defined as region 1 or battery Whether the interdependent region SOC is equal to or is defined as region 2 or region 3, is usually indicated with frame 52.In the dynamic operating condition phase Between, when vehicle is accelerating, region 4 is only applicable, and therefore process is limited to current dynamic vehicle service condition, wherein vehicle 20 current positive decelerations, region 4 is that the Probability Area in the interdependent region of not applicable or for this process battery SOC is not applicable 's.
If vehicle control device 36 determines that the interdependent region of battery SOC is equal to or is defined as region 1,54 are typically expressed as, Do not allow to increase driver's expectation deceleration limitation regenerative torque request so and driver it is expected that deceleration limits regenerative torque and asks The value asked remains unchanged and without modification, is usually indicated with frame 56.
If vehicle control device 36 determines that the interdependent region of battery SOC is equal to or is defined as region 1 or region 3, usual table 58 are shown as, then authorization, which increases driver, it is expected that deceleration limitation regenerative torque request and process continue.It can increase for determination more Few driver it is expected limitation regenerative torque request of slowing down, and vehicle control device 36 calculates regenerative torque overhead value, usually with frame 60 come It indicates.Driver by subtracting the maximum regeneration torque limit that can be generated from electric device 32 it is expected limitation regeneration torsion of slowing down Square request calculates to obtain regenerative torque overhead value.Regenerative torque overhead value indicates to be used for regenerated available torque capacity, be greater than And limitation regenerative torque request of slowing down it is expected beyond driver.
Once vehicle 20 calculates regenerative torque expense, vehicle control device 36 it is determined that regenerative torque expense whether Less than back axle friction torque and the actual numerical value summation of ICE torque [(back axle friction torque)+(ICE torque is practical)], lead to Frame 62 is commonly used to indicate.If vehicle control device 36 determines that regenerative torque expense is less than back axle friction torque and ICE torque is real The numerical value summation on border, is typically expressed as 64, then vehicle control device 36 is by it is expected that deceleration limitation regenerative torque is asked for driver It asks the front axle regenerative torque for calculating modification with regenerative torque expense phase Calais to request, effectively the front axle of modification is regenerated and is turned round Square request is defined as being equal to the maximum regeneration torque limit that electric device 32 can generate, and is usually indicated with frame 66.In addition, also using Frame 66 indicates that back axle friction torque and the practical total amount altogether of ICE torque reduce regenerative torque expense to keep driving The overall of the vehicle 20 of the person's of sailing initial request is slowed down.
If vehicle control device 36 determines regenerative torque overhead amount not less than generally back axle friction of the instruction at 68 The numerical value of torque and ICE torque actual value and, then vehicle control device 36 is generally as being indicated frame 70 by modified front axle The expectation that regenerative torque request calculated or be limited to back axle friction torque, ICE torque actual value and driver slows down limitation again The numerical value of raw torque request and.Therefore, in this case, modified front axle regenerative torque request is equal to back axle friction and turns round Square, ICE torque actual value and the expectation of driver, which are slowed down, limits the sum of regenerative torque.In addition, indicated by frame 70, back axle again The combination total amount of friction torque and ICE torque actual value reduces modified front axle regenerative torque request to maintain driver most The overall of the vehicle 20 just requested is slowed down.
As the calculating such as indicated by frame 66 or frame 70 and/or limit the part of modified front axle regenerative torque request, Vehicle control device 36 further defines the modified torque of each friction stopping device 30 of each corresponding wheel 28 for vehicle 20 Value.Therefore, vehicle control device 36 limits the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and RR through repairing Change torque value.The modified torque value of LF is asked with the modified torque value of RF and approximately equal to modified front axle regenerative torque It asks, and the modified torque value of LR and the modified torque value of RR and approximately equal to modified back axle torque request.Each phase The modified torque value of the friction stopping device 30 of wheel 28 is answered to be calculated as realizing modified front axle regenerative torque request.
Once vehicle control device 36 has calculated and/or has limited modified front axle regenerative torque request, the modified torque of LF Value, the modified torque value of RF, the modified torque value of LR and the modified torque value of RR, then vehicle control device 36 is generally by frame 72 The estimated yaw rate of vehicle 20 is calculated as instruction.Estimated yaw rate is based on the request of modified front axle regenerative torque, LF through repairing Change the modified torque value of torque value, RF, the modified torque value of LR and the modified torque value of RR.If application is modified as calculated The request of front axle regenerative torque, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and the modified torque of RR Value, then estimated yaw rate is defined herein as the estimation variable quantity of the yaw rate of vehicle 20.As used herein, vehicle 20 " yaw " is defined as the angle at a distance of right side or left side, and the angle is right relative to the longitudinal direction of vehicle 20 by vehicle 20 The driving direction of plane is claimed to determine." yaw rate " is defined as yaw herein and changes with time.Therefore, if application warp It is modified to modify the request of front axle regenerative torque, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and RR Torque value, then estimated yaw rate is the yaw rate of vehicle 20 by the estimation of the degree of change.
Once vehicle control device 36 has calculated estimated yaw rate, generally the determination as the instruction of frame 74 can for vehicle control device 36 Allow to regenerate whether target yaw rate is greater than estimated yaw rate, or allows whether regeneration target yaw rate is not more than estimated yaw Rate.Allowing regeneration target yaw rate is that the user of the yaw rate variation of current dynamic vehicle service condition limits or based on mould The limitation of type.Therefore, vehicle control device 36 will calculate the permissible regeneration target yaw rate of current dynamic vehicle service condition.
Generally such as 76 instructions, regeneration target yaw rate is allowed to be greater than estimated yaw if vehicle control device 36 determines Rate (that is, the request of modified front axle regenerative torque, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and The implementation of the modified torque value of RR will not be such that the yaw rate of vehicle 20 changes and be greater than permitted amount), then generally by frame 78 instruction as, vehicle control device 36 can will control signal send or be sent to the corresponding component of vehicle 20 with implement it is modified before The request of axle regenerative torque, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and the modified torque of RR Value.Therefore, vehicle control device 36 can be applied in for the modification of one or two of the first axle 24 and/or the second axle 34 Friction catch at wheel 28, vehicle control device 36 can increased or decrease output from internal combustion engine 22 and/or electric device 32 Torque, and vehicle control device 36 can control electric device 32 and provide desired amount of regeneration to fill energy to energy storage device 38.
However, allowing regeneration target yaw rate to be not more than if vehicle control device 36 determines generally such as 80 instructions Estimated yaw rate is (that is, the request of modified front axle regenerative torque, the modified torque value of LF, the modified torque value of RF, LR are modified The implementation of torque value and the modified torque value of RR will change the yaw rate of vehicle 20 and be greater than permitted amount), then vehicle control Device 36 processed do not implement as currently limit the request of modified front axle regenerative torque, the modified torque value of LF, the modified torque of RF Value, the modified torque value of LR and the modified torque value of RR.In this case, it is such as indicated by frame 82, vehicle control device 36 is reversely counted Calculate modified front axle regenerative torque request, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and RR warp The value of each of torque value is modified, until regeneration target yaw rate is allowed to be greater than estimated yaw rate.Retrospectively calculate is through repairing Change the request of front axle regenerative torque, the modified torque value of LF, the modified torque value of RF, the modified torque value of LR and the modified torsion of RR The value of each of square value may include (for example) making modified front axle regenerative torque request, the modified torque value of LF, RF What the value of each of the modified torque value of modified torque value, LR and the modified torque value of RR incrementally reduced be incremented by or repeatedly Calculate the estimated yaw rate of these correction values again for program, and then more modified estimated yaw rate and permissible regeneration are inclined again Boat rate target.This iterative program can continue up to modified front axle regenerative torque request, the modified torque value of LF, RF The correction value of the modified torque value of modified torque value, LR and the modified torque value of RR, which generates less than, allows regeneration yaw rate mesh Target estimated yaw rate.Modification front axle regenerative torque request, the modified torque value of LF, the modified torque value of RF, LR are modified These correction values of torque value and the modified torque value of RR are then generally to be transferred into the corresponding of them as the instruction of frame 78 The value of component.
It is described in detail and supports and describe the present invention with schema or figure, but the scope of the present invention is only to be limited by claims It is fixed.Although the certain optimal modes and other embodiments for carrying out the introduction have already been described in detail, there is also be used for Practice the various supplement or replacements of the invention limited in the appended claims.

Claims (6)

1. a kind of method for controlling a vehicle, which comprises
It is inputted based on requesting to slow down, using vehicle control device, to calculate expectation deceleration limitation regenerative torque request；
The expectation is slowed down using the vehicle control device and limits regeneration by the available additional regenerated capacity based on the vehicle Torque request, which increases to, will not make the yaw rate of the vehicle change the grade for being greater than and allowing target yaw rate, wherein described Increased expectation deceleration limitation regenerative torque value request is defined as modified axle regenerative torque request；And
Using the vehicle control device, the friction stopping device at each wheel of the vehicle is sent control signals to, with It controls the friction stopping device at each wheel of the vehicle and realizes the modified axle regenerative torque request；
Determine that current dynamic vehicle service condition is that setting is allowing to increase the expectation deceleration using the vehicle control device In the performance zones for limiting regenerative torque request, limits regenerative torque again without setting and ask allowing to increase it is expected and slow down In the performance zones asked；
It is to be arranged in multiple performance zones to allow to increase the expectation deceleration limitation regeneration in current dynamic vehicle service condition When in one performance zones of torque request, held using the vehicle control device from total available regenerative torque of ability recovery device Amount slows down limitation regenerative torque request with the expectation to calculate regenerative torque overhead value；
Determine the current dynamic vehicle service condition of the vehicle is currently arranged on which area in the multiple performance zones In domain；
Wherein, the multiple performance zones include:
First area, in the first area, the current dynamic vehicle service condition of the vehicle is limited in the vehicle Maximum possible deceleration and maximum possible transverse acceleration 20% and 30% between；
Second area, in the second region, the current dynamic vehicle service condition of the vehicle are limited in the vehicle The maximum possible deceleration and the maximum possible transverse acceleration 50% and 70% between；And
Third region, in the third region, the current dynamic vehicle service condition of the vehicle may include up to 100% The maximum possible deceleration and the maximum possible transverse acceleration of the vehicle.
2. according to the method described in claim 1, further comprising limiting to realize modified vehicle using the vehicle control device The modified torque value of each wheel of the vehicle needed for the request of axis regenerative torque.
3. according to the method described in claim 2, further comprising based on the modified front axle regenerative torque request and institute It states the modified torque value of each wheel of vehicle, calculate the estimated yaw of the vehicle using the vehicle control device Rate.
4. according to the method described in claim 3, further comprising calculating to allow regeneration yaw using the vehicle control device Rate target is to determine whether the permissible regeneration target yaw rate is greater than the estimated yaw rate, or determines described allow Whether regeneration target yaw rate is equal to or less than the estimated yaw rate.
5. according to the method described in claim 4, further comprising: estimating described in being greater than when the permissible regeneration target yaw rate When counting yaw rate, the limit value of the modified axle regenerative torque request and described is maintained using the vehicle control device The modified torque value of each wheel of vehicle.
6. according to the method described in claim 4, further comprising: when the permissible regeneration target yaw rate is no more than described When estimated yaw rate, using the vehicle control device by each vehicle of modified axle the regenerative torque request and the vehicle The modified torque value of wheel redefines to limit the estimated yaw rate and be less than the permissible regeneration target yaw rate Value.
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